通过车顶标签实现车路协同定位，提升公交自动驾驶在复杂路口的精度与可靠性。
Vehicle Top Tag Assisted Vehicle-Road Cooperative Localization For Autonomous Public Buses
- 利用车顶标签与道路设施协同定位，解决复杂路口信号遮挡问题。
- 仿真验证了该方法在复杂环境下的定位有效性，具备高可靠性。
- 方案可扩展至更广泛自动驾驶场景，适合城市智能交通系统应用。
精准车辆定位对自动驾驶至关重要，但在复杂场景中仍具挑战，尤其是受环境遮挡和动态物体干扰的交叉路口。为此，本文提出一种车顶标签辅助的车路协同定位方法，兼顾可行性、可靠性、可解释性、社会性与经济性。文中给出了车顶标签检测与定位的具体实现方案，并通过仿真验证了其有效性。该方法不仅适用于自动驾驶公共巴士，还具备向更广泛实际应用场景拓展的潜力。
原文摘要 · Abstract (English)
Accurate vehicle localization is indispensable to autonomous vehicles, but is difficult to realize in complicated application scenarios. Intersection scenarios that suffer from environmental shielding and crowded dynamic objects are especially crucial and challenging. To handle difficult intersection scenarios, the methodology of vehicle top tag assisted vehicle-road cooperative localization or for short vehicle top tag assisted localization is proposed. The proposed methodology has merits of satisfying all the feasibility, reliability, explainability, society and economy concerns. Concrete solutions of vehicle top tag detection and vehicle top tag localization that instantiate the core part of the proposed methodology are presented. Simulation results are provided to demonstrate effectiveness of the presented solutions. The proposed methodology of vehicle top tag assisted localization also has the potential to be extended to a much wider range of practical applications than our intended ones involving autonomous public buses.
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